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mc_pos_control: hotfix for takeoff ramp stuck with NAN #14339

Merged
merged 1 commit into from Mar 17, 2020
Merged

mc_pos_control: hotfix for takeoff ramp stuck with NAN #14339

merged 1 commit into from Mar 17, 2020

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MaEtUgR
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@MaEtUgR MaEtUgR commented Mar 10, 2020

Describe problem solved by this pull request
Follow up to #13973 reported and proposed by @dusan19.
Summary: The takeoff ramp can get stuck with an upwards velocity limit of NAN which is a valid value in the interface and means do not limit.

Describe your solution
I propose to make sure just before the takeoff ramp calculation that the value is already the maximum and not NAN anymore. This leaves the interface for flight tasks and solves the problem described in #13973.

I admit it's not the nicest of all solutions but with the context that

  • we want to move towards not constraining the velocity setpoint more than necessary in the middle of the position controller (which is what that variable was originally created for)
  • having the takeoff ramp class used in in flight tasks
    I think it's an acceptable fix.

All the logic that changes the setpoints after the developer generated them in the flight task is prone to lead to problems.

Describe possible alternatives
#13973

Test data / coverage
Untested, just quickly pushed for @dusan19 to test. I can test it later as well.

@MaEtUgR MaEtUgR requested a review from bresch March 10, 2020 11:00
@MaEtUgR MaEtUgR self-assigned this Mar 10, 2020
@MaEtUgR MaEtUgR mentioned this pull request Mar 10, 2020
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@MaEtUgR MaEtUgR added this to the Release v1.11.0 milestone Mar 10, 2020
bresch
bresch requested changes Mar 10, 2020
View reviewed changes
src/modules/mc_pos_control/mc_pos_control_main.cpp Outdated
@@ -577,6 +577,12 @@ MulticopterPositionControl::Run()
// check if all local states are valid and map accordingly
set_vehicle_states(setpoint.vz);

// fix to prevent the takeoff ramp to ramp to a too high value or get stuck because of NAN
// this should get obsolete once the takeoff limiting moves into the flight tasks
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Suggested change
// this should get obsolete once the takeoff limiting moves into the flight tasks
// TODO: this should get obsolete once the takeoff limiting moves into the flight tasks

@MaEtUgR MaEtUgR added this to To Do in Release 1.11 Blockers via automation Mar 11, 2020
@MaEtUgR MaEtUgR moved this from To Do to Testing in Release 1.11 Blockers Mar 11, 2020
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MaEtUgR commented Mar 17, 2020

I rebased on master and added the TODO according to the review comment.

@MaEtUgR MaEtUgR marked this pull request as ready for review March 17, 2020 09:20
@bresch bresch merged commit fb1b6a0 into master Mar 17, 2020
Release 1.11 Blockers automation moved this from Testing to Done Mar 17, 2020
@bresch bresch deleted the pr-fix-nan-takeoff-ramp branch March 17, 2020 15:19
@MaEtUgR MaEtUgR mentioned this pull request Mar 18, 2020
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@MaEtUgR MaEtUgR mentioned this pull request Mar 3, 2021
Merged
MaEtUgR added a commit that referenced this pull request Mar 3, 2021
@MaEtUgR
MulticopterPositionControl: fix Takeoff ramp use
7a0fd7e 
- guard against NAN speed_up limit as input to ramp see #14339
- allow negative speed_up limit for ramp to work
MaEtUgR added a commit that referenced this pull request Mar 3, 2021
@MaEtUgR
MulticopterPositionControl: fix Takeoff ramp use
28b89b0 
- guard against NAN speed_up limit as input to ramp see #14339
- allow negative speed_up limit for ramp to work
solounno added a commit to solounno/PX4-DQPROV2 that referenced this pull request Jun 1, 2023
@solounno
Squashed commit of the following:
c7c079d 
commit c6cf28a2dbc70b25f82f5a6389c0d56fa1adaaa1
Author: Sander Smeets <sander@droneslab.com>
Date:   Mon Nov 8 09:00:22 2021 +0100

    Increase quadchute descent rate

commit b0ec84e0834cdef884011da7f657260fb5b10fd7
Author: Igor Mišić <igy1000mb@gmail.com>
Date:   Tue Aug 31 17:44:58 2021 +0200

    uavcan/sensors/battery: use remaining from battery lib

commit e6a5f6a6d25edb07984ae5e5d676d95d9ac708d2
Author: Igor Mišić <igy1000mb@gmail.com>
Date:   Thu Aug 26 17:17:49 2021 +0200

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commit 293e25bfb7c6286055603fae6098c03ab38b72a6
Author: Igor Mišić <igy1000mb@gmail.com>
Date:   Thu Aug 26 17:09:09 2021 +0200

    battery_status: naming consistency current_filtered_a -> current_average_a

commit 89f6b287867b9dc6bc1bd4ccfbd0808c2232a076
Author: Igor Mišić <igy1000mb@gmail.com>
Date:   Thu Aug 26 17:06:58 2021 +0200

    uavcan/sensors/battery: update battery status to use battery lib

commit 8e4b71658d29596e2acf112d82411f8ee18adf0e
Author: Igor Mišić <igy1000mb@gmail.com>
Date:   Wed Aug 4 18:34:37 2021 +0200

    lib/battery: change battery_status to a member and added getter function

commit dded82d820729f6a1f6cdb1f71a699786189ad46
Author: Silvan Fuhrer <silvan@auterion.com>
Date:   Fri Aug 13 09:47:19 2021 +0200

    Remove a couple of unnecessary reboot_required from parameter meta data

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commit 14ad16a9904efb179b281e7d70defbf18071cf62
Author: Matthias Grob <maetugr@gmail.com>
Date:   Wed Jun 30 15:18:38 2021 +0200

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commit 069d1efba22498fa56084ead690471fa36b64a5f
Author: Matthias Grob <maetugr@gmail.com>
Date:   Wed Jun 30 15:05:44 2021 +0200

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Author: Igor Mišić <igy1000mb@gmail.com>
Date:   Thu Aug 26 16:32:13 2021 +0200

    battery: publish measured values also when battery not connected

commit 1a9acda47b703a493cbab284ef53aa24536356c8
Author: Igor Mišić <igy1000mb@gmail.com>
Date:   Thu Aug 26 16:30:31 2021 +0200

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commit d214a61799b0bd17987018194115576fc9689b4b
Author: Matthias Grob <maetugr@gmail.com>
Date:   Fri Jun 25 16:29:03 2021 +0200

    battery: omit separate publish() function

commit 44750a7afa82b1c352383e2182dbf3b122bebfc3
Author: Matthias Grob <maetugr@gmail.com>
Date:   Fri Jun 25 15:45:30 2021 +0200

    battery: simplify battery_initialized condition

commit e75a215233a431a078bf5259f43cf93e051ba07a
Author: Matthias Grob <maetugr@gmail.com>
Date:   Fri Jun 25 15:28:29 2021 +0200

    battery: connected check outside of determineWarning()

commit 08fd362b0dd6fe7795bc6b7dab4f5eb4501717c5
Author: David Sidrane <David.Sidrane@NscDg.com>
Date:   Wed Apr 21 12:57:44 2021 -0700

    lib/battery:Fix types

commit 3c20c991375e5f0cfa1f799e56bb4e806068f934
Author: Sander Smeets <sander@droneslab.com>
Date:   Tue Jul 20 13:26:53 2021 +0200

    do set servo for nh2 gimbal

commit ca221326df02a2e604d71f5646bb475896f39e9d
Author: Sander Smeets <sander@droneslab.com>
Date:   Fri Jul 9 13:09:11 2021 +0200

    Allow passthrough of aux 1 2 3 while disarmed

commit 306aec42d9ce75ee28f8329fad222ce8c4aa7077
Author: Sander Smeets <sander@droneslab.com>
Date:   Tue Jun 22 13:03:59 2021 +0200

    half power on fw in mc mode

commit 12d68092b832608e3a8d30fd2e302d7e85eee101
Author: Sander Smeets <sander@droneslab.com>
Date:   Tue Jun 1 11:48:30 2021 +0200

    Fix landing gear behavior

commit 87088556ef29ec4148bd05c80fcb5ab149cb7297
Author: Sander Smeets <sander@droneslab.com>
Date:   Mon May 17 08:55:20 2021 +0200

    PDM camera trigger

commit a0bfc841f5185fd7e2cfd05ec307c9b00d43bca0
Author: Sander Smeets <sander@droneslab.com>
Date:   Sun May 16 10:38:08 2021 +0200

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commit ece82b9639946581d03d2a69bd81548d9efc092a
Author: Sander Smeets <sander@droneslab.com>
Date:   Fri May 14 12:26:11 2021 +0200

    Set nora pins for PWM trigger

commit 2d71bb912e9d6b6d15c8d3fc841319fbd0d8bc00
Author: Sander Smeets <sander@droneslab.com>
Date:   Wed Apr 28 16:39:24 2021 +0200

    Activate mavlink on UART4 and fix gazebo

commit 6b02645386ebe70738302dcca7f59d64c2758b02
Author: Sander Smeets <sander@droneslab.com>
Date:   Tue Apr 20 16:45:17 2021 +0200

    Suppress parameter not found statustext

commit f652241820159e092d3afd04c07a0c600f2473ad
Author: Sander Smeets <sander@droneslab.com>
Date:   Mon Apr 19 11:02:13 2021 +0200

    Fall back to RTL when rc loss in position mode

commit e82b5b1597c53dc45406848a448c3d4b1668f0d4
Author: Sander Smeets <sander@droneslab.com>
Date:   Thu Apr 15 08:24:54 2021 +0200

    Publish highres_imu at low rate for normal telem

commit 684b097f3276d501ee92e73c52951bdd876cb846
Author: Sander Smeets <sander@droneslab.com>
Date:   Thu Apr 15 08:24:31 2021 +0200

    Increase EKF2_REQ_HDRIFT

commit d5c2c855a272dbfe6ad19c36c7f4aa4ba8a83f4c
Author: Sander Smeets <sander@droneslab.com>
Date:   Tue Feb 16 10:20:47 2021 +0100

    Enable fallback RTL for RCL in manual modes

commit 95cab4d7c9bcd08135d9b924f12b41faad601dd4
Author: Sander Smeets <sander@droneslab.com>
Date:   Fri Apr 9 16:52:50 2021 +0200

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commit f4d695859ef821182a0fb420dc79e2d4549d72dc
Author: Sander Smeets <sander@droneslab.com>
Date:   Fri Apr 9 14:25:30 2021 +0200

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commit fc6ab458715236fb4e4bef1714038e1cb305b58a
Author: Sander Smeets <sander@droneslab.com>
Date:   Wed Apr 7 10:32:22 2021 +0200

    Dfault params and disable LPE/rover

commit 2581b48bdda8f959faa890b919c2a67768e123a1
Author: Sander Smeets <sander@droneslab.com>
Date:   Mon Apr 5 00:27:05 2021 +0200

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commit ea8dfc9b31bf811c05646b80d7e48f42e9fa3df5
Author: Sander Smeets <sander@droneslab.com>
Date:   Mon Apr 5 00:14:24 2021 +0200

    Apply pressure scaling to vtol min trans time

commit 2b2fe51c91607cddcc86447b860599442d540bf5
Author: Sander Smeets <sander@droneslab.com>
Date:   Sun Apr 4 22:20:13 2021 +0200

    Do not scale FW_THR_MAX

commit a3d2e00e46e37d063cedd7226d99638263d461cd
Author: Sander Smeets <sander@droneslab.com>
Date:   Mon Feb 22 10:51:47 2021 +0100

    Seagull assume camera is ON and keep it alive

commit 5d35ce63f33f51a6e7cc1d28fa254d2cedbc0ea2
Author: Sander Smeets <sander@droneslab.com>
Date:   Sat Feb 20 17:30:45 2021 +0100

    DQ NORA AUX and trigger start

commit 8ff58a8d08fb71ae0def2013fe82021ac23bf3c4
Author: Daniel Agar <daniel@agar.ca>
Date:   Mon Mar 15 12:57:40 2021 -0400

    remaining Nora PWM triggers hacks (PWM12)

commit 21cb44a139d58c4822878da76f10a7314bbff535
Author: Daniel Agar <daniel@agar.ca>
Date:   Mon Mar 15 12:50:05 2021 -0400

    NuttX with px4_firmware_nuttx-10.0.0+-pr-stm32h7-sdmmc-bp

commit 00016e53fac8af3dcf7935cd823692f924a951d4
Author: Daniel Agar <daniel@agar.ca>
Date:   Mon Mar 15 10:04:25 2021 -0400

    boards: holybro/kakutef7 disable CONSTRAINED_FLASH to increase optimization

commit c67d85945ba26a1c45e92110bb52450b6e76cbed
Author: Inhwan Wee <10ezenfinani@gmail.com>
Date:   Mon Mar 15 22:09:43 2021 +0900

    [commander] more detailed print_status

commit 29d4ad1848725d05d7b2edf9e3aaeaaaff982187
Author: Daniel Agar <daniel@agar.ca>
Date:   Tue Mar 16 00:58:04 2021 -0400

    fw_pos_control_l1: OFFBOARD fully populate position_setpoint_triplet

commit bcf93304c759b93350e0eb3f8f5133529b2aa1ea
Author: Ryan Johnston <31726584+ryanjAA@users.noreply.github.com>
Date:   Mon Mar 15 21:46:35 2021 -0500

    Board ID Update

    Needed for updating firmware (due to boot loader).

commit 8e6987d480daa67c67765c8aaa4356a4a2e36058
Author: Ryan Johnston <31726584+ryanjAA@users.noreply.github.com>
Date:   Mon Mar 15 21:43:33 2021 -0500

    Board ID update

    Needed for firmware to update.

commit 5d633064274282338482e9ffd7a2fb6af55f84ea
Author: Daniel Agar <daniel@agar.ca>
Date:   Tue Mar 16 00:50:13 2021 -0400

    Update submodule GPS drivers to latest Tue Mar 16 00:40:31 UTC 2021

commit be58db1ec9c0e14aa8b955f0e536332696e48b1d
Author: Daniel Agar <daniel@agar.ca>
Date:   Mon Mar 15 20:32:59 2021 -0400

    boards: cubepilot_cubeorange_console add gyro_fft

commit 8261ee5fd79bc523decf0a51e53e22291244a32f
Author: Daniel Agar <daniel@agar.ca>
Date:   Mon Mar 15 20:31:34 2021 -0400

    boards: px4_fmu-v5_stackcheck add gyro_fft

commit ed8f6aa8fe9cccbf6be0ce49a0a2be6660fe441e
Author: Daniel Agar <daniel@agar.ca>
Date:   Tue Mar 16 00:15:26 2021 -0400

    gyro_fft: fix bucket_index size

     - needed for larger FFT lengths (eg 1024, 2048, etc)

commit 0eac534b80b60a7d1c1e13c0d33159379939e161
Author: Daniel Agar <daniel@agar.ca>
Date:   Mon Mar 15 16:16:19 2021 -0400

    geo: purge globallocal_converter

commit ae67c53b1e18feb1fe9f45ed87d9d712db1246a7
Author: Daniel Agar <daniel@agar.ca>
Date:   Mon Mar 15 14:19:00 2021 -0400

    boards: px4_fmu-v6u_default address flash shortage

     - create separate px4_fmu-v6u_test variant for onboard testing code

commit 4b99bd2077a45bf781095b458e3dbe68629a80a8
Author: Daniel Agar <daniel@agar.ca>
Date:   Mon Mar 15 13:05:05 2021 -0400

    boards: remove optional external ADIS IMUs to save flash

commit b20949e6647b822e9c84183dafab44ff20fedc0f
Author: Daniel Agar <daniel@agar.ca>
Date:   Mon Mar 15 12:40:52 2021 -0400

    mission feasibility: Fix first wp too far message overflow

    Co-authored-by: Sander Smeets <sander@droneslab.com>

commit 6cdc034f089bbd857c75b36827752f80a3013323
Author: Daniel Agar <daniel@agar.ca>
Date:   Mon Mar 15 12:35:41 2021 -0400

    camera_trigger: cleanup

     - add copyright headers and update year
     - move initializers to header
     - add PX4_DEBUG messages

commit 517a1d0116300165b682ebfc9325645cd15e1e29
Author: Sander Smeets <sander@droneslab.com>
Date:   Mon Mar 15 17:32:45 2021 +0100

    battery_status: factor in total current consumption in battery remaining estimation

commit 82a2126f97b9c769d8e8bb2c7f8f89cbba4c7a28
Author: RomanBapst <bapstroman@gmail.com>
Date:   Mon Mar 1 17:45:40 2021 +0300

    TECS: add feedforward gain for total energy balance rate

    Signed-off-by: RomanBapst <bapstroman@gmail.com>

commit edd42cfa8673b5a22b2897e60346f0524ce79b8c
Author: Daniel Agar <daniel@agar.ca>
Date:   Mon Mar 15 10:57:04 2021 -0400

    boards: px4/fmu-v5x disable optional external IMU drivers

commit 0b4006ae863fa5b10c2893a0dc2fc4578725f094
Author: Daniel Agar <daniel@agar.ca>
Date:   Mon Mar 15 10:41:11 2021 -0400

    boards: CUAV x7pro disable SPI6 IMU until NuttX BDMA is fixed

commit 20d8de2dca440e749c3d4bf707510e746237e20f
Author: Daniel Agar <daniel@agar.ca>
Date:   Sun Mar 14 21:36:39 2021 -0400

    gyro_fft: reduce run frequency (still consuming all queued data)

commit 3c80db979609b034c2c4992a3924cb38c171b51c
Author: Daniel Agar <daniel@agar.ca>
Date:   Sun Mar 14 20:22:53 2021 -0400

    boards: stm32f7 run gyro_fft by default

commit a5151f92ea9db548f939741436e3154d947eb974
Author: Lorenz Meier <lorenz@px4.io>
Date:   Mon Mar 15 09:47:58 2021 +0100

    Merge pull request #17065 from PX4/pr/fix-mavlink-shell

    MAVLink shell: Ensure that nothing is written to the file handles during shell creation.

commit 2257c3767e678b4fd8524517b478c4b1487c6f9c
Author: Daniel Agar <daniel@agar.ca>
Date:   Sat Mar 6 13:14:57 2021 -0500

    simple gyro auto calibration module

commit 01c9a4f24dc38e071e4a0f7831a673a5870b1d75
Author: jciberlin <jciberlin1@gmail.com>
Date:   Sun Mar 14 15:05:50 2021 +0100

    ghst: fix warning generated on PR (Clang Tidy)

    Fix warning generated on PR (Clang Tidy).

commit 6f5efbeab5c16342dd09ba710d7c70a931580862
Author: jciberlin <jciberlin1@gmail.com>
Date:   Sun Mar 14 13:10:02 2021 +0100

    ghst_telemetry: send battery status

    Send battery status (ghst_telemetry). Apply factors to show correct values of volts, amps and mAh. Change ghost protocol code to follow more MISRA C++ guidelines.

commit af3573e464fa75b8a250b0b3d9108234cfd219d5
Author: Daniel Agar <daniel@agar.ca>
Date:   Mon Mar 15 00:47:11 2021 -0400

    gyro_fft: log peak frequency magnitudes

commit 3665f9a3c49a16ca0d7019b368bfb544d87f0781
Author: Daniel Agar <daniel@agar.ca>
Date:   Sun Mar 14 18:11:27 2021 -0400

    gyro_fft: increase default range and length to improve test data

commit 893eee4cb8a55dee2e971ffca3b1857c3bf34fee
Author: Daniel Agar <daniel@agar.ca>
Date:   Sun Mar 14 17:49:31 2021 -0400

    logger: double sensor_gyro_fft logging rate

commit cfb30998709c11d4a3aa9279ff99255de777b292
Author: Daniel Agar <daniel@agar.ca>
Date:   Sun Mar 14 16:32:22 2021 -0400

    boards: mRo pixracer pro restore USART6, but RX only

commit 72ca6902f0575ad4b5efa80fd1adaa9a87378455
Author: Lorenz Meier <lorenz@px4.io>
Date:   Sun Mar 14 14:25:45 2021 +0100

    Updated README - general refresh

commit 6b4ccaa53e4e1c7ff45fe057bc2d1745dc7597f7
Author: Jaeyoung-Lim <jalim@ethz.ch>
Date:   Sat Mar 13 23:00:29 2021 +0100

    Handle invalid yaw rate setpoints

commit 06e3d38bbdb889a196ecfe9138a8c5ab4dc623ce
Author: Jaeyoung-Lim <jalim@ethz.ch>
Date:   Sat Mar 13 22:50:27 2021 +0100

    Fix yaw rate ignore flag for attitude setpoints

    This PR fixes the yaw rate ignore case handling for offboard control using the SET_ATTITUDE_TARGET message

commit 28681405aef2023972a633beb00205f618d1a5ae
Author: David Sidrane <David.Sidrane@NscDg.com>
Date:   Fri Mar 12 10:48:42 2021 -0800

    nxp_fmuk66-v3:Disable CONFIG_MMCSD_MULTIBLOCK (_DISABLE=y)

commit 3e443f7dcc10976634ff8615fac9a3ab4e0ca904
Author: David Sidrane <David.Sidrane@NscDg.com>
Date:   Fri Mar 12 10:48:29 2021 -0800

    nxp_fmuk66-e:Disable CONFIG_MMCSD_MULTIBLOCK (_DISABLE=y)

commit 528127c3729d1000a9ce7380dca951fef46e1f7c
Author: CarlOlsson <carlolsson.co@gmail.com>
Date:   Fri Mar 12 13:11:45 2021 +0100

    fw_att_ctrl: remove unused variable

commit f150e1e7aadf4685037d6552b601ba0dcf9cd651
Author: romain-chiap <romain.chiap@gmail.com>
Date:   Fri Mar 12 12:04:14 2021 -0500

    sih: time constant added on thrusters, and minor cleanup

commit 1d8c55db4a5ce9aa95069d1db362e5020f2fecef
Author: ArkadiuszNiemiec <niemiecarkadiusz@gmail.com>
Date:   Fri Mar 12 15:06:09 2021 +0100

    mavlink: fix yaw and yaw_rate ignore mask check

commit 7fb43559f81c2a7208f29292bd39aca5a5b2750b
Author: Daniel Agar <daniel@agar.ca>
Date:   Thu Mar 11 21:48:18 2021 -0500

    gyro_fft: run by default on STM32H7

commit 9ceef80e064545c0e4663ada749d00dfdc4152c5
Author: Beat Küng <beat-kueng@gmx.net>
Date:   Fri Mar 12 09:48:53 2021 +0100

    param: remove set-default print's during bootup

commit af8c3215f2102fa4d6efb580d849d06ee697a06f
Author: Beat Küng <beat-kueng@gmx.net>
Date:   Fri Mar 12 09:48:28 2021 +0100

    logger: add airframe and system-wide default parameters

    - adds new ulog message & compatibility flag
    - separately add airframe and system-wide defaults
    - log only non-volatile defaults that are different from the current value
    - additional size is ~3KB for 100 params

commit b512a3d8f78e6e25024c02ba20f6c5259d3caecf
Author: Beat Küng <beat-kueng@gmx.net>
Date:   Fri Mar 12 09:43:27 2021 +0100

    param: add param_get_system_default_value

commit c356181f9066bc6361825b2ae17212aae01cd55f
Author: Daniel Agar <daniel@agar.ca>
Date:   Thu Mar 11 22:33:18 2021 -0500

    px4_work_queue: increase wq:rate_ctrl stack

commit 0079cb708c4b9d2f4180aee77462684b9f2d40f3
Author: Daniel Agar <daniel@agar.ca>
Date:   Thu Mar 11 21:29:47 2021 -0500

    gyro_fft: don't update FFT length while running

     - this is used for the length of dynamically allocated buffers that
    aren't resized while running

commit ee7b6c0e9f4012f3950648ffc258e8394679b002
Author: Daniel Agar <daniel@agar.ca>
Date:   Thu Mar 11 14:32:08 2021 -0500

    mavlink: delete fake CAMERA_CAPTURE stream

commit d98e1ded6bac589f862743383a1e4aca50e6dde7
Author: Daniel Agar <daniel@agar.ca>
Date:   Thu Mar 11 14:19:59 2021 -0500

    mavlink: mavlink main report lost vehicle_command_ack

commit b0a4f350247be4fa3c4f0ac8ff3809608593e8db
Author: Daniel Agar <daniel@agar.ca>
Date:   Thu Mar 11 14:17:12 2021 -0500

    mavlink: mavlink main vehicle_commands only handled in iridium mode

commit eef304110d885d0e37b4f2184094b0c3654c455d
Author: Daniel Agar <daniel@agar.ca>
Date:   Thu Mar 11 14:15:29 2021 -0500

    uavcan: uavcan_servers only acknowledge supported commands

commit c13266ad269d1382d9dafa53fb9b27bb2580a6df
Author: Julian Oes <julian@oes.ch>
Date:   Thu Mar 11 18:19:39 2021 +0100

    Tools: add env variable to disable follow mode

    This adds the env variable PX4_NO_FOLLOW_MODE to disable the follow mode
    in Gazebo.

commit 4a7b2c490a2fea9d2f0a9a5805a1dbea3c0a3562
Author: Daniel Agar <daniel@agar.ca>
Date:   Sat Feb 20 20:48:43 2021 -0500

    mavlink: messages cleanup remaining headers

commit 3f872ebf208482abc98c498eb6aeea0a2c5cedbf
Author: Daniel Agar <daniel@agar.ca>
Date:   Sat Feb 20 20:25:33 2021 -0500

    mavlink: move HEARTBEAT to separate stream header

commit 0c138b7e031248ebd1a4dd07113cfffb855a7d2a
Author: Daniel Agar <daniel@agar.ca>
Date:   Sat Feb 20 17:22:58 2021 -0500

    mavlink: move CAMERA_TRIGGER to separate stream header

commit b955c41a63f20b7e0fe053253f41929d1d1bf289
Author: Daniel Agar <daniel@agar.ca>
Date:   Sat Feb 20 17:15:36 2021 -0500

    mavlink: move COMMAND_LONG to separate stream header

commit 801202f2088236a230bf683e7cee99233021a21e
Author: Daniel Agar <daniel@agar.ca>
Date:   Sat Feb 20 16:45:09 2021 -0500

    mavlink: move BATTERY_STATUS to separate stream header

commit dc1418a3b452ffe5b1d6ad30f25f74193e9bb6b5
Author: Daniel Agar <daniel@agar.ca>
Date:   Sat Feb 20 16:39:29 2021 -0500

    mavlink: move SYS_STATUS to separate stream header

commit 5a025cfa28ce0a1448ab057c2d410db875cb22a1
Author: Daniel Agar <daniel@agar.ca>
Date:   Sat Feb 20 16:32:57 2021 -0500

    mavlink: move SMART_BATTERY_INFO to separate stream header

commit ec6758f5affc2c0a0ddd944fa82951db3a4eec42
Author: Daniel Agar <daniel@agar.ca>
Date:   Sat Feb 20 16:26:02 2021 -0500

    mavlink: move HIGHRES_IMU to separate stream header

commit 248978b25ea4fa67e40b5762ef71ab9824a73a4f
Author: Daniel Agar <daniel@agar.ca>
Date:   Sat Feb 20 15:04:56 2021 -0500

    mavlink: move SCALED_PRESSURE to separate stream header

commit 477d8c37383571c4ff6fea9494e9cd4defbaaa7d
Author: Daniel Agar <daniel@agar.ca>
Date:   Sat Feb 20 14:44:51 2021 -0500

    mavlink: only include HIGH_LATENCY2 stream on non flash constrained builds

commit c6311324d2022af2a8b686f22411ca7c48575327
Author: Daniel Agar <daniel@agar.ca>
Date:   Sat Feb 20 14:44:08 2021 -0500

    mavlink: move VFR_HUD to separate stream header

commit d46ae7983f007022e86421bf22b96d76e82048ae
Author: Daniel Agar <daniel@agar.ca>
Date:   Sat Feb 20 14:36:48 2021 -0500

    mavlink: move GPS_RAW_INT to separate stream header

commit 67a204206a846181562b96ddcff93a2989b6ba3a
Author: Daniel Agar <daniel@agar.ca>
Date:   Sat Feb 20 14:28:01 2021 -0500

    mavlink: move GPS2_RAW to separate stream header

commit e2f7427679b45ad5cca428963e8b59a577f92b3c
Author: Daniel Agar <daniel@agar.ca>
Date:   Sat Feb 20 14:13:49 2021 -0500

    mavlink: move AUTOPILOT_STATE_FOR_GIMBAL_DEVICE to separate stream header

commit 462d67f2b6ef9bbbdf4d7d984091c43f4d50439f
Author: Daniel Agar <daniel@agar.ca>
Date:   Sat Feb 20 14:01:22 2021 -0500

    mavlink: move TIMESYNC to separate stream header

commit 849000ebeb9b2546cfc639ca01470bb0f161e456
Author: Daniel Agar <daniel@agar.ca>
Date:   Sat Feb 20 13:50:22 2021 -0500

    mavlink: move SYSTEM_TIME to separate stream header

commit af06adecd36ea8f512fb836dc5617b196575ca55
Author: Daniel Agar <daniel@agar.ca>
Date:   Sat Feb 20 13:41:45 2021 -0500

    mavlink: move ADSB_VEHICLE to separate stream header

commit ecfbd79a90f0ed00a6fc691d875f7beb7ec8fd5f
Author: Daniel Agar <daniel@agar.ca>
Date:   Sat Feb 20 13:37:13 2021 -0500

    mavlink: move UTM_GLOBAL_POSITION to separate stream header

commit e04252151c6fedd4378a3cfb84d3251add5eaace
Author: Daniel Agar <daniel@agar.ca>
Date:   Sat Feb 20 13:33:00 2021 -0500

    mavlink: move GIMBAL_DEVICE_ATTITUDE_STATUS to separate stream header

commit c9d44d57413619885157a8b703d9cd68e0301f20
Author: Daniel Agar <daniel@agar.ca>
Date:   Sat Feb 20 13:26:58 2021 -0500

    mavlink: move GIMBAL_MANAGER_INFORMATION to separate stream header

commit aaf7b41dda053afee5451030611de5823e0e6c2a
Author: Daniel Agar <daniel@agar.ca>
Date:   Sat Feb 20 13:21:28 2021 -0500

    mavlink: move GIMBAL_MANAGER_STATUS to separate stream header

commit 581e28eb334c3ad4714d92a936df8016acf6535c
Author: Daniel Agar <daniel@agar.ca>
Date:   Sat Feb 20 13:10:04 2021 -0500

    mavlink: move GIMBAL_DEVICE_SET_ATTITUDE to separate stream header

commit ddca6698521523cb47a350268f366913ab82841a
Author: Daniel Agar <daniel@agar.ca>
Date:   Sat Feb 20 13:04:25 2021 -0500

    mavlink: move CAMERA_IMAGE_CAPTURED to separate stream header

commit 50bd7570373d5d22cd0bba7e1cfdf8b8a9cad6f8
Author: Daniel Agar <daniel@agar.ca>
Date:   Sat Feb 20 13:00:15 2021 -0500

    mavlink: move GLOBAL_POSITION_INT to separate stream header

commit ede01e8f1a2f667e0c0a3889f236d5262318e888
Author: Daniel Agar <daniel@agar.ca>
Date:   Sat Feb 20 12:53:51 2021 -0500

    mavlink: move ODOMETRY to separate stream header

commit 7daa97f279e408832f6a8ff1c87353287107d1ec
Author: Daniel Agar <daniel@agar.ca>
Date:   Sat Feb 20 12:49:11 2021 -0500

    mavlink: move LOCAL_POSITION_NED to separate stream header

commit 5f7d577e0434706e30b12e9c0ad4e9e7f7a9dbb0
Author: Daniel Agar <daniel@agar.ca>
Date:   Sat Feb 20 12:44:32 2021 -0500

    mavlink: move ESTIMATOR_STATUS to separate stream header

commit a1a557cfe3df6a7d8dfaedfaf45cf6c35b52f025
Author: Daniel Agar <daniel@agar.ca>
Date:   Sat Feb 20 12:39:44 2021 -0500

    mavlink: move VIBRATION to separate stream header

commit 239ed19827ad076f39a0aed26d87b09e136dc02a
Author: Daniel Agar <daniel@agar.ca>
Date:   Sat Feb 20 12:33:48 2021 -0500

    mavlink: move ATT_POS_MOCAP to separate stream header

     - now only available on non flash constrained boards

commit 3964cfb3a72aaae8ef1a45eed10ce338e51b94b3
Author: Daniel Agar <daniel@agar.ca>
Date:   Sat Feb 20 12:29:18 2021 -0500

    mavlink: move HOME_POSITION to separate stream header

commit f7ee6b3c5e8a47e36f64eb869bd81b8ddedbe3ee
Author: Daniel Agar <daniel@agar.ca>
Date:   Sat Feb 20 12:24:15 2021 -0500

    mavlink: move SERVO_OUTPUT_RAW to separate stream header

commit 5eef9358d9de41431381978d9a9b704a8d4ac26f
Author: Daniel Agar <daniel@agar.ca>
Date:   Sat Feb 20 12:13:14 2021 -0500

    mavlink: move ACTUATOR_CONTROL_TARGET to separate stream header

commit 7d78cf8505a69fc441b238bb3533d11a5edd1874
Author: Daniel Agar <daniel@agar.ca>
Date:   Thu Mar 11 10:53:26 2021 -0500

    parameters: param_value_is_default() add note about params_changed bitset usage

commit a991e78e18575cd19f5f4821c2fa47b2a3fe4f29
Author: Daniel Agar <daniel@agar.ca>
Date:   Tue Mar 9 13:38:35 2021 -0500

    parameters: fix runtime default edge case

commit ceb445caa010f2fb01fe92d878231b7d668ea890
Author: Matthias Grob <maetugr@gmail.com>
Date:   Thu Mar 11 14:16:58 2021 +0100

    Run mc_pos_control for acceleration control mode flag

commit 6a6352577c8be7048d2f332a888a60776d7b8e8c
Author: Daniel Agar <daniel@agar.ca>
Date:   Wed Mar 10 20:44:29 2021 -0500

    cmake: nuttx error if GCC <= 7

commit f725813128fab2efc4ba63ddfbf8df100cf3c0bc
Author: Daniel Agar <daniel@agar.ca>
Date:   Wed Mar 10 20:01:43 2021 -0500

    add bootloader flash helper target (jlink_flash_bootloader)

commit 8816601efb8c26b709a2c1117479af115436155b
Author: Matthias Grob <maetugr@gmail.com>
Date:   Wed Mar 10 13:57:59 2021 +0100

    FlightTaskManualAcceleration: fix velocity setpoint initialization

commit 89b502b9a06fcde2a59e3216336c0e3334f7a796
Author: Matthias Grob <maetugr@gmail.com>
Date:   Wed Mar 10 13:57:20 2021 +0100

    FlightModeManager: remove switching out of a task for every mode change

    This was an idea to be able to reinitialize on mode change e.g. from
    Holde mode to Land mode which are currently all still handled by
    FlightTaskAuto and don't require a task switch.

    But I found out it leads to issues because the last setpoint and the
    ekf reset counter state from the previous task are lost and as a result
    the setpoint transition cannot be handled consistently anymore.

commit 63a35ccabd7eb1916b772ac3849ebb62758e5668
Author: Matthias Grob <maetugr@gmail.com>
Date:   Tue Mar 9 19:27:33 2021 +0100

    StickAccelerationXY: fix losing the internal velocity setpoint state

    because of a failing position unlock with NAN velocity setpoint feedback.

commit 54fe0ae98cb3a695208cca05092e7784176f0d5a
Author: Matthias Grob <maetugr@gmail.com>
Date:   Tue Mar 9 19:23:14 2021 +0100

    FlightModeManager: rename updateVelocityController{IO} to {Feedback}

commit 02abb760a35360cb2fecbe26acb21e62c8aa4e24
Author: David Jablonski <dayjaby@gmail.com>
Date:   Wed Mar 10 19:16:17 2021 +0100

    SITL: add iris with fog-simulating lidar

commit f8eaa6e46b96ecad0987dd6e38eeff7b58842989
Author: Daniel Agar <daniel@agar.ca>
Date:   Wed Mar 10 09:40:49 2021 -0500

    ROMFS handle bl_update generically

     - include all available legacy bootloaders

commit 3ad0da51c4841fb20ced4d8e205d9abb5541e889
Author: Daniel Agar <daniel@agar.ca>
Date:   Wed Mar 10 10:41:04 2021 -0500

    Makefile: wipe incomplete ninja build generation

commit 6914ebef4e5ff602885c4ac689aaa6956f0a30fc
Author: mohamed.moustafa <mohamed.moustafa@nxp.com>
Date:   Wed Mar 10 08:33:27 2021 +0100

    added messages required by offboard_control example

commit 1d66b033a4b0127b395f44539bd98e65f505c403
Author: Jaeyoung-Lim <jalim@ethz.ch>
Date:   Sun Mar 7 17:11:29 2021 +0100

    Append mixer with aux outputs

commit 0db29866f15102377522039f9f105162fd1e5e02
Author: Jaeyoung-Lim <jalim@ethz.ch>
Date:   Sat Mar 6 13:30:48 2021 +0100

    Add standard_vtol drop

commit d2b63f137e2fd102343540e383c924bcdb8f0835
Author: PX4 BuildBot <bot@px4.io>
Date:   Wed Mar 10 00:59:16 2021 +0000

    Update submodule ecl to latest Wed Mar 10 00:59:16 UTC 2021

        - ecl in PX4/Firmware (557d8f65d89cd3da4a0e88af2a7bb1a16ebf3ff9): https://github.com/PX4/PX4-ECL/commit/4bad2a272cfbcfd2ef2c77bb4af788f5b569aaaa
        - ecl current upstream: https://github.com/PX4/PX4-ECL/commit/b3c1bd6d40952a9d467497162f91f28400ae0a3d
        - Changes: https://github.com/PX4/PX4-ECL/compare/4bad2a272cfbcfd2ef2c77bb4af788f5b569aaaa...b3c1bd6d40952a9d467497162f91f28400ae0a3d

        b3c1bd6 2021-03-09 Paul Riseborough - EKF: Remove un-used code

commit 684424bf731bd18e247b07c89a5143069fa0afe4
Author: Daniel Agar <daniel@agar.ca>
Date:   Tue Mar 9 13:03:59 2021 -0500

    parameters: delete unused BSON_BINDATA handling

commit 4d288512b5e2324de8a35d967bac944562af789e
Author: Daniel Agar <daniel@agar.ca>
Date:   Tue Mar 9 11:16:44 2021 -0500

    add board architecture specific init defaults

commit e53e001de1ff6e96093b71f4cea2a347dc086b6f
Author: Silvan Fuhrer <silvan@auterion.com>
Date:   Fri Mar 5 18:12:04 2021 +0100

    Airspeed Selector: do not run checks during landing

    Stall speed check would otherwise trigger during landing if airspeed falls below
    stall speed before landing is detected.

    Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

commit 440e72e69717e5ceb03d2da414710097dcd11d68
Author: Daniel Agar <daniel@agar.ca>
Date:   Tue Mar 9 09:46:38 2021 -0500

    boards: cuav nora/x7pro don't have low speed external (LSE) oscillator

commit a11d2207e454e1a538e30aaccdfb4418b3e8accb
Author: Daniel Agar <daniel@agar.ca>
Date:   Wed Mar 3 20:55:16 2021 -0500

    commander: simplify failure detector is attitude stabilized check

commit dff975698e7a1b3422072f97be362872c4e7ec5e
Author: Daniel Agar <daniel@agar.ca>
Date:   Wed Mar 3 19:55:45 2021 -0500

    mc_rate_control: delete unused _landing_gear_pub

commit cc3c6f63e5acb997d5025632be21095aaa264432
Author: Daniel Agar <daniel@agar.ca>
Date:   Wed Mar 3 19:40:43 2021 -0500

    mc_rate_control: simplify manual_control_setpoint update

commit bb12fce66cafd931dda819fc7c7b3ba2bbe5e3d7
Author: Daniel Agar <daniel@agar.ca>
Date:   Wed Mar 3 19:27:56 2021 -0500

    delete RATTITUDE flight mode

commit d37510a43d468de8932a9e55dbaf5fc2e796ec1d
Author: Daniel Agar <daniel@agar.ca>
Date:   Tue Mar 9 10:36:34 2021 -0500

    update UUV and rover controllers to use trajectory_setpoint and cleanup unused position_setpoint fields

commit a0b9b44ff63864d2d61db4ba385de39683731a11
Author: Daniel Agar <daniel@agar.ca>
Date:   Fri Mar 5 15:37:32 2021 -0500

    boards: stm32h7 set CONFIG_SDMMC1 consistently

commit bd1c575ce86bb0dcc6fb3a46e466684b564ff43b
Author: Daniel Agar <daniel@agar.ca>
Date:   Tue Mar 9 09:27:21 2021 -0500

    lib/sensor_calibration: add simple offset and scale sanity checks

commit c4ab2797ebdc612b5e3f60be76d36a119e6050a5
Author: Peter van der Perk <peter.vanderperk@nxp.com>
Date:   Sun Mar 7 22:04:11 2021 +0100

    Added the notion of BaseSubscriber which allows to
    subsscription for services responses and request and helps the usage of fixed
    port subscribers Furthermore move register autconfigure logic from Uavcan.cpp
    to NodeManager

commit 9f9b01504d463ce16f0126ca3ff12507ee4a8ccd
Author: CUAVcaijie <caijie@cuav.net>
Date:   Tue Mar 9 17:04:26 2021 +0800

    Modify the way to clear Data

commit 063bb7589150f32736c34bbebd186c6b12598cff
Author: David Jablonski <dayjaby@gmail.com>
Date:   Mon Mar 8 22:21:59 2021 +0100

    simulator: fix lidar sensors

commit c96d9a79b8edd4bfb7ff57170310f628e8895b43
Author: Matthias Grob <maetugr@gmail.com>
Date:   Sun Mar 7 14:09:12 2021 +0100

    mc_att_control_params: remove frequency unit from attitude gains

commit c792879612899155311c1d0de8cc0842356647f9
Author: David Sidrane <David.Sidrane@NscDg.com>
Date:   Mon Mar 8 03:19:37 2021 -0800

    Nuttx: PX4 Contrib Ethernet Hardening

commit cbb2fa440b197955f9edae28acea8400e1e7f0d6
Author: Daniel Agar <daniel@agar.ca>
Date:   Mon Mar 8 10:35:48 2021 -0500

    sensors/vehicle_angular_velocity: only allocate dynamic notch perf counters if enabled (IMU_GYRO_DYN_NF)

commit 68c171fd4f6122db5050602c4a8ef505f769050e
Author: Daniel Agar <daniel@agar.ca>
Date:   Sat Mar 6 22:19:37 2021 -0500

    land_detector: continue respecting hover thrust throughout descent

commit 1fa08c399728667a863d45e6d083242c47ba195c
Author: Jaeyoung-Lim <jalim@ethz.ch>
Date:   Sun Mar 7 23:11:10 2021 +0100

    Fix actuator controls timestamps for MAV_CMD_DO_SET_ACTUATOR

    Fix actuator controls timestamps for MAV_CMD_DO_SET_ACTUATOR

commit 4465c4fbf6379745af58de328d8f4bdd11347a11
Author: Paul Riseborough <priseborough@users.noreply.github.com>
Date:   Mon Mar 8 08:16:48 2021 +1100

    ekf2: Publish and log EKF warning and information events (NEW msg estimator_event_flags)

     * msg: Add estinator information and warning events message (estimator_event_flags)
     * ekf2: publish information and warning events
     * logger: log estimator_event_flags
     * update ecl submodule to latest

    Co-authored-by: Daniel Agar <daniel@agar.ca>

commit 18a8d89fa47794bb17f5b1676d9420ac05acc861
Author: Peter van der Perk <peter.vanderperk@nxp.com>
Date:   Mon Mar 1 10:57:38 2021 +0100

    PNP fixed allocation scheme
    Fixed register scheme
    Incrased wq:uavcan stack since it overflowed when sending register response

commit 28c76663cd004db0553304f00a7ac2a0257275d1
Author: Peter van der Perk <peter.vanderperk@nxp.com>
Date:   Fri Feb 26 22:09:16 2021 +0100

    UAVCANv1 Move PNP from UAVCAN.cpp to NodeManager.cpp

commit d5e468a19ed9e7f5fa94ca988d86daf5a0464570
Author: Kevin Dominic Merkel <17237189+notoriou5@users.noreply.github.com>
Date:   Sun Mar 7 18:18:00 2021 +0100

    change typhoon_h480 roll-/pitchrate P gain to reduce oscillations (#17044)

commit 35488337d379824a926064af6fa194329f2cf104
Author: Daniel Agar <daniel@agar.ca>
Date:   Sat Mar 6 23:44:30 2021 -0500

    mc_pos_control: add OFFBOARD takeoff intent

commit 22abe1619b99dacc13c45767d41cc2e83ddb1fc8
Author: Daniel Agar <daniel@agar.ca>
Date:   Fri Mar 5 21:00:39 2021 -0500

    Update submodule mavlink v2.0 to latest Sat Mar  6 00:39:07 UTC 2021

commit 1eff1aa83c881f92467d79c9b5c3198cb59bf0a7
Author: PX4 BuildBot <bot@px4.io>
Date:   Sat Mar 6 00:39:04 2021 +0000

    Update submodule sitl_gazebo to latest Sat Mar  6 00:39:04 UTC 2021

        - sitl_gazebo in PX4/Firmware (263b00b65fc89c7fd9383f0364760fceb15ea12a): https://github.com/PX4/PX4-SITL_gazebo/commit/bebb9a95f0b61bf9e4c3de345fab70985c1329b3
        - sitl_gazebo current upstream: https://github.com/PX4/PX4-SITL_gazebo/commit/c7524aa977539d8cc972d9336355bc82e2f2cfa5
        - Changes: https://github.com/PX4/PX4-SITL_gazebo/compare/bebb9a95f0b61bf9e4c3de345fab70985c1329b3...c7524aa977539d8cc972d9336355bc82e2f2cfa5

        c7524aa 2021-02-28 Jaeyoung-Lim - Fix MAVSDK SITL tests
    f4d5594 2021-02-28 JaeyoungLim - Increase rover model realtime factor (#715)

commit 263b00b65fc89c7fd9383f0364760fceb15ea12a
Author: Daniel Agar <daniel@agar.ca>
Date:   Fri Mar 5 18:25:14 2021 -0500

    ekf2 support SET_GPS_GLOBAL_ORIGIN and remove globallocalconverter usage

     - vehicle_command cmd extended from uint16 to support PX4 internal commands that don't map to mavlink

commit 12a4b0334f3f59ee6c8d5bbb35140448dc3fc7a5
Author: David Sidrane <David.Sidrane@NscDg.com>
Date:   Tue Mar 2 10:25:47 2021 -0800

    px4_fmu-v6u:Use Auto LSE Drive setting

commit 2af106d8889c7c4f24a2ff586dfc3b70dda63008
Author: David Sidrane <David.Sidrane@NscDg.com>
Date:   Tue Mar 2 10:24:51 2021 -0800

    px4_fmu-v6x:Use Auto LSE Drive setting

commit d94ff14e6b42a1c335472361e2fe810c93c5b8f3
Author: David Sidrane <David.Sidrane@NscDg.com>
Date:   Thu Feb 4 15:36:22 2021 -0800

    px4_fmu-v5x:Use Auto LSE Drive setting

commit f44a299e3b2309cf245ce920be89af2c94769bb2
Author: David Sidrane <David.Sidrane@NscDg.com>
Date:   Thu Feb 4 15:36:13 2021 -0800

    px4_fmu-v5:Use Auto LSE Drive setting

commit c2a5b5ed88dcc1f5cd27b59c52c12501c8bffc82
Author: David Sidrane <David.Sidrane@NscDg.com>
Date:   Thu Feb 4 15:35:49 2021 -0800

    holybro_durandal-v1:Use Auto LSE Drive setting

commit 9d0a8928bd00bae4cb0c23a98540de0df231afbf
Author: Ryan Johnston <31726584+ryanjAA@users.noreply.github.com>
Date:   Fri Feb 26 22:13:56 2021 -0600

    Update chip type

    Update chip type from NI to II.

commit 0958b30804e2caf5d5ca92cb51a1669881c2f77a
Author: Ryan Johnston <31726584+ryanjAA@users.noreply.github.com>
Date:   Thu Mar 4 21:46:11 2021 -0600

    Fix i2c4 bus

    Fix i2c4 bus (and subsequent CI errors)

commit 2bf508061ada931d44d122520a70f5dcc29680fe
Author: Ryan Johnston <31726584+ryanjAA@users.noreply.github.com>
Date:   Fri Feb 26 22:05:15 2021 -0600

    Update i2c bus

    Change internal bus 2 to external.

commit 17b48102f41a3b46e22696ce2e17d7f3e944543a
Author: Ryan Johnston <31726584+ryanjAA@users.noreply.github.com>
Date:   Fri Feb 26 21:53:48 2021 -0600

    Update i2c mapping and i2c clock source

    i2c4 was mapped incorrectly and i2c4 clock source wasn't present.

commit 7525722b1a9f7fe174de1515d166fd0351fd799c
Author: bbworld <vwangsf@gmail.com>
Date:   Sat Feb 27 02:41:00 2021 -0800

    Add support for specifying spawn location in Gazebo multi sim

    This commit adds support for specifying the spawn location of vehicles
    in the Gazebo multi-vehicle simulator script (frame:number:x:y).
    Behavior when x and y are not specified remains the same as before.

commit daf744c67854789bc3f78d10ad0fd10f351d6936
Author: Ryan Johnston <31726584+ryanjAA@users.noreply.github.com>
Date:   Fri Mar 5 14:26:15 2021 -0600

      MRO Control Zero F7 OEM Fixes (#16977)

    * Update i2c 4 pinmap on F7 OEM

    Update i2c 4 pinmap

    * Fix i2c Internal to External on F7 OEM

    Fix i2c Internal to External on F7 OEM

    * Add Can2 Silent Pin

    Add Can2 Silent Pin

commit 66beffa2f3bf2204f4ecf9e7e80234cd562270b9
Author: Nicolas MARTIN <nicolas1.martin1@gmail.com>
Date:   Tue Feb 23 17:28:08 2021 +0100

    Enable pre-arm checks in HIL modes

    by airframe parameters HIL mode will still disable:
     - usb check
     - power checks
     - safety switch

commit b4b424bf7dd1130dabe64d4b07632aa0a033560b
Author: CarlOlsson <carlolsson.co@gmail.com>
Date:   Wed Feb 24 13:20:17 2021 +0100

    tecs: also fix the bug in update_vehicle_state_estimates()

commit 0f461f7f602507fc494c11f39bb6326c3b0db977
Author: CarlOlsson <carlolsson.co@gmail.com>
Date:   Wed Feb 24 11:14:08 2021 +0100

    TECS: Fix internal state init if dt is large

commit 114e85d260d4acb157e191fd8cfc1f58c9c73e4e
Author: Matthias Grob <maetugr@gmail.com>
Date:   Fri Mar 5 16:38:38 2021 +0100

    MultiCopterPositionControl: hotfix emergency failsafe

    that prevents the vehicle from crashing with invalid setpoints or
    states.

    This broke with #16869 when the scheduling of the position control module
    and the setpoint generation got independent. The failsafe mechanism assumed
    the setpoint is overwirtten by the possibly infeasible input on every loop
    iteration which is not the case anymore. As a result the failsafe reset its
    histeresis based on the failsafe setpoint from the last loop iteration.

    Keeping the failsafe_setpoint separate solves this issue. Note that
    these setpoints to the bare minimum to keep the vehicle safely in the air
    and do not suffer from sideffects ignoring the EKF reset.

commit fddcb73802d0b5565796e42b042cd41818282f1c
Author: Daniel Agar <daniel@agar.ca>
Date:   Fri Feb 26 22:49:49 2021 -0500

    sensors/vehicle_angular_velocity: dynamic notch filter support ESC RPM (untested)

commit 573034aa8e5a951ac1e56b5ba36ffe9cd690efc4
Author: Daniel Agar <daniel@agar.ca>
Date:   Fri Feb 26 19:56:13 2021 -0500

    Jenkins hardware print ORB_ID(sensor_selection)

commit d5d5b7d82e1038c4b02467bab7738323737fbcc4
Author: Daniel Agar <daniel@agar.ca>
Date:   Fri Feb 26 19:10:47 2021 -0500

    sensors/vehicle_angular_velocity: add perf counters

commit 19de1e57e3f5057b88180cd4856f1c0946498a1d
Author: Daniel Agar <daniel@agar.ca>
Date:   Fri Feb 26 17:30:12 2021 -0500

    gyro_fft promote to modules and include on all boards

commit 00b3b3678bb3c1b50612a047790b1dbaa97624f9
Author: Daniel Agar <daniel@agar.ca>
Date:   Thu Feb 25 10:09:59 2021 -0500

    sensors/vehicle_angular_velocity: gyro dynamic notch filters updated from onboard FFT

commit ed6269b9a5619cf579555800b8e588d588becb9e
Author: David Sidrane <David.Sidrane@NscDg.com>
Date:   Fri Mar 5 04:29:17 2021 -0800

    STMx7 LSE backports

commit 077afdf9aaee1e8a76b880aebe93d7905cf987c2
Author: Daniel Agar <daniel@agar.ca>
Date:   Fri Mar 5 10:07:36 2021 -0500

    commander: extend reliant on opt flow to ALTCTL (degraded from POSCTL)

    If you're flying in manual position control mode and lose position the state machine will put you in altitude control mode. Extending the reliant on optical flow relaxed position validity thresholds allows you to potential get back into position control mode with flow alone.

commit d0c9a5fc93141fd2a393896a3d344db70783e048
Author: Daniel Agar <daniel@agar.ca>
Date:   Fri Mar 5 09:39:46 2021 -0500

    OFFBOARD mode architecture overhaul (#16739)

     - handle SET_POSITION_TARGET_LOCAL_NED and SET_POSITION_TARGET_GLOBAL_INT with ORB_ID(trajectory_setpoint)
     - FlightTaskOffboard not needed at all
     - bypass position_setpoint_triplet entirely (start removing extraneous fields)
     - simplify offboard_control_mode to map to supported control modes

commit 5233737a865014a475d28eeec57468ae97e62957
Author: David Jablonski <dayjaby@gmail.com>
Date:   Sat Feb 27 15:44:11 2021 +0100

    adjust some limits to prevent divide-by-zero

commit 9f6c882d2a2f6f0f41b8f17a0c99bea39da7b21c
Author: Gonçalo Atanásio <gon_6_9@hotmail.com>
Date:   Fri Mar 5 00:30:17 2021 +0000

    boards: crazyflie v2.1 Default to EKF2 with no MAG

    Co-authored-by: TheLegendaryJedi <goncalo.atanasio@gmail.com>

commit 5bbc66f3afe99e75852e9b3660a5de4d2fc0b902
Author: Matthias Grob <maetugr@gmail.com>
Date:   Wed Mar 3 21:44:40 2021 +0100

    ManualControl: name, message, comment, const qualifier improvements

    addressing review from @bresch, @julianoes and @JonasVautherin

commit 2f39651f77ff6e37adf4a6c44ac2b47455578a1c
Author: Matthias Grob <maetugr@gmail.com>
Date:   Thu Feb 25 16:01:35 2021 +0100

    ManualControl: use current sample for timeout check

commit a43a829fdfb6268618b869ee00fd000618873e75
Author: Matthias Grob <maetugr@gmail.com>
Date:   Mon Feb 22 11:34:44 2021 +0100

    Commander: gate manual control setpoint processing on new data

commit 935423b56314df601d1e3105057c0b16aef69bdb
Author: Matthias Grob <maetugr@gmail.com>
Date:   Wed Feb 17 18:07:17 2021 +0100

    ManualControl: start to distinguish rc arming methods

commit c16b48fd2cb6ef234b7d44aef43c477ed19b151b
Author: Matthias Grob <maetugr@gmail.com>
Date:   Wed Feb 17 16:26:32 2021 +0100

    Commander: Replace manual_control_setpoint use

commit 49c240f49e42ff2d634ae7b21bd0bba96e8cf9b1
Author: Matthias Grob <maetugr@gmail.com>
Date:   Wed Feb 17 15:27:37 2021 +0100

    Commander: simplify rc arming disabling logic

commit ca3bfb5ea14c606af51d5d1e6eb423d37182bb0e
Author: Matthias Grob <maetugr@gmail.com>
Date:   Wed Feb 17 15:21:14 2021 +0100

    ManualControl: simplify multicopter manual thrust logic

commit a796903e21bb0ea646c6e044259183bd1c8c6ee7
Author: Matthias Grob <maetugr@gmail.com>
Date:   Wed Feb 17 15:49:45 2021 +0100

    ManualControl: fix arm button use case

commit 37ea78a7ff55b9ad7f59fa0ed88fa95407d5a66b
Author: Matthias Grob <maetugr@gmail.com>
Date:   Wed Feb 17 14:21:49 2021 +0100

    Commander: move rc arming to ManualControl class

    Separating the different arming methods is the next step.

commit 00a4133042252f280529c1f76ef7b6b669a7fb6e
Author: Matthias Grob <maetugr@gmail.com>
Date:   Tue Feb 16 12:38:31 2021 +0100

    ManualControl: make members private again

commit ee2d408edc2839585d0f7c26fb1f20bd47e66a37
Author: Matthias Grob <maetugr@gmail.com>
Date:   Tue Feb 16 10:40:22 2021 +0100

    Commander: move rc availability to ManualControl

commit 0e1f1a9f57e7138121273e5f0dae91abbed0cecb
Author: Matthias Grob <maetugr@gmail.com>
Date:   Tue Feb 16 08:45:33 2021 +0100

    Commander: use parameters directly in ManualControl

commit dda895c94b4ed7f4c1649c5cca443a02f29860c8
Author: Matthias Grob <maetugr@gmail.com>
Date:   Tue Feb 16 08:18:30 2021 +0100

    Commander: split out rc override logic into ManualControl

commit a4da15edf5a9ed60c1ecd6979e8e0f9139ad9d95
Author: Matthias Grob <maetugr@gmail.com>
Date:   Wed Jan 27 18:00:33 2021 +0100

    Commander: RC override back to stick change

    Instead of deflection mainly because:
    - Spring loaded throttle -> bad user experience
    - Stale RC data -> Vehicle not savable

commit 3d87982bbac41ff235b2f42e018d37b1bc9e0876
Author: Matthias Grob <maetugr@gmail.com>
Date:   Mon Feb 15 17:23:57 2021 +0100

    Commander: reintroduce last stick position

commit cdadfabccc5f67981eec9656da04d0d9557e4c43
Author: Julian Kent <julian@auterion.com>
Date:   Thu Nov 19 11:10:10 2020 +0100

    Bring back RC throttle override with a parameter to disable it

commit b7ff54b0347ba069791ca71138dac16866eb528c
Author: SungTae Moon <munhoney@gmail.com>
Date:   Thu Mar 4 17:29:38 2021 +0900

    add label option for various airframes using same model (#17003)

commit bc8d9af23eca370b7ac32b0ba6ca685cc207beb7
Author: Ryan Johnston <31726584+ryanjAA@users.noreply.github.com>
Date:   Tue Mar 2 23:01:57 2021 -0600

    Add Lazy FPU

    Reported that LAZYFPU  interact with the MTD (FRAM) driver.

    https://github.com/PX4/PX4-Autopilot/issues/16548

commit 0047e518aaafa2ba5b4c3ac4c173266577ea03b4
Author: Ryan Johnston <31726584+ryanjAA@users.noreply.github.com>
Date:   Tue Mar 2 23:05:43 2021 -0600

    Add Lazy FPU to Defconfig

    Reported that LAZYFPU interacts with the MTD (FRAM) driver.

commit 28b89b024f76868793064b23ba7625a9c616276c
Author: Matthias Grob <maetugr@gmail.com>
Date:   Wed Mar 3 18:02:28 2021 +0100

    MulticopterPositionControl: fix Takeoff ramp use

    - guard against NAN speed_up limit as input to ramp see #14339
    - allow negative speed_up limit for ramp to work

commit 0eb327743e4633751ef43619d74b1101e0184740
Author: Daniel Agar <daniel@agar.ca>
Date:   Sun Feb 21 11:08:26 2021 -0500

    move min/max distance to ground limits to FlightTask ManualAltitude

commit ecd5e57ab5037eced07102feacad5641d5c64694
Author: Daniel Agar <daniel@agar.ca>
Date:   Sun Feb 21 10:54:47 2021 -0500

    remove debug

commit 0ada59e57b18a01006d9cc37b3a16b6d95e3e4cc
Author: Daniel Agar <daniel@agar.ca>
Date:   Sun Feb 21 10:52:45 2021 -0500

    ekf reset remove NAN checks

commit 7a7d316a32943684535f29033ffaa3799b022b81
Author: Daniel Agar <daniel@agar.ca>
Date:   Sun Feb 21 10:44:09 2021 -0500

    Update src/modules/mc_pos_control/PositionControl/CMakeLists.txt

    Co-authored-by: Matthias Grob <maetugr@gmail.com>

commit 87f835710bac501ff22177156d2682cbcd2442a1
Author: Daniel Agar <daniel@agar.ca>
Date:   Sun Feb 21 10:44:02 2021 -0500

    Update src/modules/flight_mode_manager/FlightModeManager.hpp

    Co-authored-by: Matthias Grob <maetugr@gmail.com>

commit c891db19f9c548b9edd920c3ac2a47efda6e275c
Author: Daniel Agar <daniel@agar.ca>
Date:   Sun Feb 21 10:43:49 2021 -0500

    Update src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.cpp

    Co-authored-by: Matthias Grob <maetugr@gmail.com>

commit 266ea377da5a62a127f7bb76a6b905e02729ee26
Author: Daniel Agar <daniel@agar.ca>
Date:   Tue Feb 16 12:26:14 2021 -0500

    move takeoff state machine flight_mode_manager -> mc_pos_control

commit 823c6078d957d33e796deff2f50c7533357dd536
Author: David Sidrane <David.Sidrane@NscDg.com>
Date:   Wed Mar 3 03:17:23 2021 -0800

    Add rtps build to workflows

commit 72a3c05ffc4fdfdd976ea6b331d4d3290e36f664
Author: David Sidrane <David.Sidrane@NscDg.com>
Date:   Tue Mar 2 09:05:19 2021 -0800

    nxp_fmuk66-e:Add rtps build

commit 6542c6e58b234ac2a33e7834044369ee9cab0f14
Author: David Sidrane <David.Sidrane@NscDg.com>
Date:   Tue Mar 2 09:03:33 2021 -0800

    nxp_fmuk66-e:Add rtps build

commit c9a2d0ed345a7e9b348d763fa8de58ed0901a797
Author: Daniel Agar <daniel@agar.ca>
Date:   Fri Feb 19 09:40:08 2021 -0500

    IMU_GYRO_RATEMAX set system default to 400 Hz

     - MC default is still 800 Hz

commit 16af63e99cc7f8d688ad7745c38e3beb73517807
Author: Nico van Duijn <nico@auterion.com>
Date:   Tue Mar 2 13:49:56 2021 +0100

    v6x: fix icm20649 rotation

commit b257f9d1fd7c0d2ae610895a31a40c284a18e6be
Author: Kalyan Sriram <kalyan@coderkalyan.com>
Date:   Thu Feb 4 13:44:23 2021 -0800

    actuator: add support for MAV_CMD_DO_SET_ACTUATOR

    Adds support for using the MAVLink command MAV_CMD_DO_SET_ACTUATOR to
    update the actuator values on control group 3 aux{1, 2, 3}. A simple
    deconfliction with rc_update is implemented: when a MAVLink command is
    sent, RC is disabled for that channel until a major stick movement is
    detected.

commit ada05165f18314054b5f2ebc16a460b9d4575e58
Author: Beat Küng <beat-kueng@gmx.net>
Date:   Fri Feb 26 14:52:04 2021 +0100

    mc_pos_control_params: fix param descriptions for negative values

commit 4d9e88141e5f341c331e795cde0cc8c8847dfed2
Author: Daniel Agar <daniel@agar.ca>
Date:   Mon Mar 1 16:43:29 2021 -0500

    px4_work_queue: increase wq:nav_and_controllers stack

commit 0ba1bc0ce1c60eaf2945d6fa14ae2f7dc3ed7931
Author: Daniel Agar <daniel@agar.ca>
Date:   Sun Feb 28 22:07:08 2021 -0500

    MPC_POS_MODE remove old metadata and explicitly handle invalid configuration

commit d01806a0c6b93819828aebd8a519b8e9e4d43343
Author: Alex Mikhalev <alex@corvus-robotics.com>
Date:   Fri Feb 26 23:47:00 2021 -0700

    lib/battery: Fix cell voltages with >10S

    Signed-off-by: Alex Mikhalev <alex@corvus-robotics.com>

commit 9d0c966b156578883a27d3518b3120cc68b4d83a
Author: Daniel Agar <daniel@agar.ca>
Date:   Fri Feb 26 21:16:07 2021 -0500

    sensors: publish sensor_selection initially regardless of SENS_IMU_MODE

     - in multi-EKF mode the EKF selector becomes repsonsible for sensor
    selector rather than the sensors module
     - this updates the sensors module to still make the initial primary IMU
    selection on startup before the EKF selector (including if the
    estimators never fully initialize)

commit 9d47f7ecda2153cc3fde3a2a63096723b3467651
Author: Daniel Agar <daniel@agar.ca>
Date:   Thu Feb 25 11:39:55 2021 -0500

    simulator: make first accel/gyro simulated FIFO

commit 0e796fc17b92deebc7bcabbb4a52f5813120f7b6
Author: Daniel Agar <daniel@agar.ca>
Date:   Thu Feb 25 19:58:30 2021 -0500

    boards: emlid navio2 enable ADIS16448

commit 6b1e7ffdb8d263ccb2fd4f15a60f68e736979f69
Author: Daniel Agar <daniel@agar.ca>
Date:   Thu Feb 25 19:54:39 2021 -0500

    rc_input: fix possible string truncation (-Werror=stringop-truncation)

commit e0ade94d25f6bc81478fb4ed7f23a01b82a6baf4
Author: Daniel Agar <daniel@agar.ca>
Date:   Thu Feb 25 16:59:33 2021 -0500

    platforms: add px4_udelay and px4_mdelay

     - NuttX: up_udelay and up_mdelay
     - Linux: usleep and msleep

commit f1f396e338bd9130da3e52d60f3a79ca469a005d
Author: Daniel Agar <daniel@agar.ca>
Date:   Fri Feb 26 10:05:43 2021 -0500

    uORB: PublicationMulti get_instance() advertise if not already advertised

     - fixes UAVCANv0 sensor bridge uORB usage, but also a reason thing to do in general

commit 33d12db580c7f30bc2c318b6e40389cec95bf421
Author: Daniel Agar <daniel@agar.ca>
Date:   Fri Feb 26 14:19:09 2021 -0500

    cmake: sitl_target sort lists and trim a few options

commit da619387924c74586f1949619f3507c8e7d91725
Author: David Sidrane <David.Sidrane@Nscdg.com>
Date:   Fri Feb 26 12:14:21 2021 -0800

    Jenkinsfile-compile:Fix breakage

commit 52bb99688f4c828aa95e5e337269880cfca94f50
Author: Benjamin Perseghetti <bperseghetti@rudislabs.com>
Date:   Fri Feb 26 11:49:09 2021 -0500

    Optimize number of logical cores used during sitl builds.

commit be9b3404a2bd3be74a833b6e21e6fd77357be8a6
Author: bresch <brescianimathieu@gmail.com>
Date:   Fri Feb 26 16:43:05 2021 +0100

    lpf test: test several sampling frequencies

commit 32776489599f862600bc8bcb82f01a98230e9cbc
Author: bresch <brescianimathieu@gmail.com>
Date:   Fri Feb 26 16:13:07 2021 +0100

    lpf test: move to common function

commit 844602c96126023cc78acd1c4741d4e0b9346d8d
Author: bresch <brescianimathieu@gmail.com>
Date:   Thu Feb 25 14:49:33 2021 +0100

    Add unit tests for Butterworth 2nd order low-pass filter

commit 2345d3ac4ab0695e383cca4ef43f9a7108f16f16
Author: David Sidrane <David.Sidrane@NscDg.com>
Date:   Fri Feb 26 06:41:50 2021 -0800

    NuttX:FlaxCan Backports

commit c2151cb4fafc8fdbbf136d6da4989185b0763217
Author: Matthias Grob <maetugr@gmail.com>
Date:   Fri Feb 26 07:55:18 2021 +0100

    Commander: remove unused arm mode command residue

commit 94bcda7c577d96cf23eb1374d697c817191948f6
Author: Daniel Agar <daniel@agar.ca>
Date:   Thu Feb 25 10:31:57 2021 -0500

    navigator: poll mission to run feasibility checks immediately

commit 7393d5d7610dc8d2cb64d90a5359b6c561fb642a
Author: Daniel Agar <daniel@agar.ca>
Date:   Thu Feb 25 17:42:59 2021 -0500

    delete aerotenna ocpoc

commit 5f9a98e316d3241c4814097668b37400e4d76bf5
Author: Igor Mišić <igy1000mb@gmail.com>
Date:   Thu Feb 25 15:25:36 2021 +0100

    drivers/gps: update RTC only if time drift for 5s

    Add interrupt pause comment to help future code archeologists

commit 143ebbad9872691797e947314efc2f56cdc902c6
Author: Daniel Agar <daniel@agar.ca>
Date:   Thu Feb 25 21:25:47 2021 -0500

    Update submodule mavlink v2.0 to latest Fri Feb 26 00:40:09 UTC 2021

commit fd1fff89d45101f4e76033ae6844a40ccbfcfbed
Author: Daniel Agar <daniel@agar.ca>
Date:   Thu Feb 25 17:16:07 2021 -0500

    dataman: remove flash backend

commit 321df7ed845c6b84491e5233b1e10b69a0da74b6
Author: Daniel Agar <daniel@agar.ca>
Date:   Thu Feb 25 17:39:07 2021 -0500

    delete remaining intel aero references

commit 3bed87e4bd63796c9d408f33f0f85a0f378a2571
Author: Daniel Agar <daniel@agar.ca>
Date:   Thu Feb 25 13:05:07 2021 -0500

    platforms/posix: try increasing sitl_gazebo build parallelism

     - this was limited to single threaded due to CI issues and even
    developer machines with limited resources

commit ac5167b459c02aca3e1d3e47eec8c322d40de916
Author: Daniel Agar <daniel@agar.ca>
Date:   Thu Feb 25 14:19:30 2021 -0500

    init.d-posix: delete rc.mavlink_override

commit a63e25f5814137e60c0ac9e7f9213995ff4d9e23
Author: Daniel Agar <daniel@agar.ca>
Date:   Thu Feb 25 11:00:45 2021 -0500

    mavlink: GPS_GLOBAL_ORIGIN on by default, but only send on change or when requested

commit 8db37225d6059b7bcf1d129db9c00f14b7e9a619
Author: garfieldG <garfieldG@users.noreply.github.com>
Date:   Thu Feb 25 02:30:30 2021 -0800

    Added rc.mavlink_override to test the new parameters with sitl

commit 3cd9b3c2cffb885a6e5a5d42d7ccac29b94c7e39
Author: garfieldG <garfieldG@users.noreply.github.com>
Date:   Sun Jan 31 05:36:27 2021 -0800

    Added support in Mavlink Ethernet channel parameters

    Mavlink Ethernet channel settings such as udp port, remote port and broadcast mode now can be changed dynamically via parameters.

commit b66a9629e00346a2084af29a83b7e62493b559ba
Author: Daniel Agar <daniel@agar.ca>
Date:   Mon Feb 22 20:12:06 2021 -0500

    ekf2: update to latest ecl with new global origin helpers

commit e5b689e33cf73560f40cc99f3cd35f2ea4717571
Author: 斯东Stone <stone@thone.io>
Date:   Thu Feb 25 09:11:58 2021 -0600

    Add TCBP001TA Barometer Driver (#14774)

commit 6482120d9a9b144831c81e7d2206b561fe8ad1d3
Author: Daniel Agar <daniel@agar.ca>
Date:   Thu Feb 25 10:06:17 2021 -0500

    sensors/vehicle_angular_velocity: use full raw FIFO data (sensor_gyro_fifo) if available

commit 8f625e5744aa67cf936dcba18cf35382a64cbcb2
Author: Daniel Agar <daniel@agar.ca>
Date:   Mon Feb 22 20:33:53 2021 -0500

    Revert "cmake: Limit color output to terminals"

    This reverts commit c1da999748aade38240f47eee179cdd58c144c78.

commit 0e8c73f4af77160336bbaa2ec9b74d3d5d278a27
Author: Beat Küng <beat-kueng@gmx.net>
Date:   Thu Feb 25 11:30:45 2021 +0100

    drivers: remove snapdragon_pwm_out

    - it would need to be refactored to use mixer_module
    - rather than having a separate driver it should use linux_pwm_out

commit 3fa825bf880e0e8827acf6968ae8fe6f4bd17259
Author: Beat Küng <beat-kueng@gmx.net>
Date:   Thu Feb 25 11:27:13 2021 +0100

    boards: remove intel/aerofc-v1

    it's discontinued

commit 7e33d03470487d1cc570f219df7026b25c80f48c
Author: Beat Küng <beat-kueng@gmx.net>
Date:   Thu Feb 25 11:21:27 2021 +0100

    drivers: remove tap_esc

    - it's not used anymore
    - it would need a refactoring to use mixer_module

commit 8986264feb165a4b0069cbf9fbaf0aed22fff0ac
Author: Beat Küng <beat-kueng@gmx.net>
Date:   Thu Feb 25 11:19:38 2021 +0100

    airframes: remove aerofc as it's discontinued

commit f0cc8a344bc1f0ebe59e3a3f44bea8d49da1cb13
Author: Beat Küng <beat-kueng@gmx.net>
Date:   Thu Feb 25 08:51:05 2021 +0100

    linux_pwm_out: refactor to run on a work queue and use mixer_module

commit 439fb00aedc8b8085c6bbcee64e1b0f7a989aa4d
Author: Beat Küng <beat-kueng@gmx.net>
Date:   Thu Feb 25 07:28:04 2021 +0100

    linux_pwm_out: move protocols to board-specific directories

    This also removes the pca9685 output, which was unused, and there's also
    pca9685_pwm_out.

commit b0a5d431d3fe553f93e3ed7e53ca9e0c973732cc
Author: 斯东Stone <stone@thone.io>
Date:   Wed Feb 24 20:28:29 2021 -0600

    optical_flow/thoneflow: update the data timespan

commit 45ba9d1dd53ba62de406a9c2a3031bfb4fba8340
Author: Daniel Agar <daniel@agar.ca>
Date:   Wed Feb 24 12:22:31 2021 -0500

    add all mRo ctrl zero variants to CI

commit 4cca86b5d6637311378d7d7d61171b577e2811c6
Author: Jacob Crabill <jacob.crabill@gmail.com>
Date:   Wed Feb 24 07:27:06 2021 -0800

    uavcan_v1: Apply feedback from Pavel Kirienko

    Co-authored-by: Pavel Kirienko <pavel.kirienko@gmail.com>

commit a7a7e33614c3a36d00a44cb4fadff84424747e38
Author: JacobCrabill <jacob@flyvoly.com>
Date:   Tue Feb 23 18:01:01 2021 -0800

    uavcan_v1: Rename Subscription --> Subscriber

commit b5ac6f1eb8dcfe0a80fa6945ff14ad4f9773a0a2
Author: JacobCrabill <jacob@flyvoly.com>
Date:   Tue Feb 23 17:57:03 2021 -0800

    uavcan_v1: Refactor Pub/Sub class constrctors

    Each class now sets the 'subject name', and the base class looks for a
    parameter following the format uavcan.pub/sub.SUBJECT_NAME.INSTANCE.id

commit c8e66a2f5c9b86d6606a2b785ab9a55ade1587ae
Author: JacobCrabill <jacob@flyvoly.com>
Date:   Tue Feb 23 17:43:07 2021 -0800

    uavcan_v1: Rename Publication --> Publisher

commit d1eda5ee84a09802f4d920b57d7e91e617c54c3a
Author: JacobCrabill <jacob@flyvoly.com>
Date:   Tue Feb 23 09:59:30 2021 -0800

    uavcan_v1: Add missing uavcanv1.cmake for fmu-v4

commit e654fe71f51b10d67982076cd8ef72084e888eed
Author: JacobCrabill <jacob@flyvoly.com>
Date:   Tue Feb 23 09:58:52 2021 -0800

    uavcan_v1: Fix 'unset' port ID (use 65535)

commit 935bf75b6133e1e0906754368f7215ceffdb50bd
Author: JacobCrabill <jacob@flyvoly.com>
Date:   Tue Feb 23 08:29:38 2021 -0800

    uavcan_v1: Fix bugs in MixingOutput / EscClient

    Also add commented-out code for use with PR-16808
    (MixingOutput + output_control)
    Bench-tested PWM output on a Pixracer via UAVCANv1 ESC commands from a
    Pixhawk 4.

commit 04ea1cf5c60e52244508f08668863dcdb2af295e
Author: JacobCrabill <jacob@flyvoly.com>
Date:   Mon Feb 22 08:17:34 2021 -0800

    uavcan_v1: Add to EscClient implementation

    Add outline of EscServer implementation
    Add some comments and cleanup

commit 4b73566b762478ccf4ddf1beceecffb73860d997
Author: JacobCrabill <jacob@flyvoly.com>
Date:   Sun Feb 21 22:04:07 2021 -0800

    uavcan_v1: Add Publisher base; Gnss Publisher

commit 216a66b535d7cbe62ed92efe3d9046126a58919d
Author: JacobCrabill <jacob@flyvoly.com>
Date:   Sun Feb 21 13:47:51 2021 -0800

    uavcan_v1: Remove unused vars

commit 35f822fca6f27c61e14f20a48ff1ad8775f35f95
Author: JacobCrabill <jacob@flyvoly.com>
Date:   Sun Feb 21 13:38:14 2021 -0800

    uavcan_v1: Working ESC setpoint pub/sub

commit 170345040ab1f77973a485f3fa8f19f65eba7e40
Author: JacobCrabill <jacob@flyvoly.com>
Date:   Sun Feb 21 12:33:37 2021 -0800

    uavcan_v1: Add rough ESC Client; Reorg Subscribers

commit 00814815f40ae6b8383e63e1bbdb6199b39f848d
Author: JacobCrabill <jacob@flyvoly.com>
Date:   Thu Feb 18 20:32:01 2021 -0800

    uavcan_v1: Reorganize uavcan params and Subscriber

commit 088014c2e1ee3f7a26ad72dd3a3b36017a75604c
Author: JacobCrabill <jacob@flyvoly.com>
Date:   Thu Feb 18 16:49:27 2021 -0800

    uavcan_v1: Basic subscriber working

commit b88e8b6684df34e85232860e4cc32baeb439c36e
Author: JacobCrabill <jacob@flyvoly.com>
Date:   Thu Feb 18 14:42:03 2021 -0800

    uavcan_v1: Increase stack size

    Also increases stack frame size limit, which was what the compiler was
    throwing an error on.

commit 70ff6703b7a071216acf1424c42cac3f02b9f093
Author: JacobCrabill <jacob@flyvoly.com>
Date:   Thu Feb 18 12:08:39 2021 -0800

    uavcan_v1: More work on subscribers and reg access

    Now running into issues with running out of stack frame memory
    For now I'm going to leave the relevant code in so it's at least
    readable, but in its current state it will not compile

commit 7d2a6afb79d878fdf5838ae282acd20d6f32ac7a
Author: JacobCrabill <jacob@flyvoly.com>
Date:   Thu Feb 18 09:52:13 2021 -0800

    uavcan_v1: More work on Subscriber class

commit c5184f3b46e98a06cc0ed50cb604e184344b8027
Author: JacobCrabill <jacob@flyvoly.com>
Date:   Thu Feb 18 08:30:36 2021 -0800

    uavcan_v1: Update UAVCANv1 DSDL submodule

commit e267dc020640a5f13ed22b3826aaacd12c977d37
Author: JacobCrabill <jacob@flyvoly.com>
Date:   Wed Feb 17 21:35:35 2021 -0800

    uavcan_v1: Start adding framework for Subscribers

commit e5cf92f20d0372b5399d8473cf920a4dfc49d6f6
Author: JacobCrabill <jacob@flyvoly.com>
Date:   Sat Feb 13 08:54:33 2021 -0800

    uavcan_v1: Refactor RX handling into functions

    Cleans up the main transfer-handling loop

commit 9fd7eb5944fb3fc13db283a709b9714f9ce0f1d4
Author: David Sidrane <David.Sidrane@NscDg.com>
Date:   Wed Feb 24 05:41:11 2021 -0800

    canbootloader:Per UAVCAN call display Percentage not KB

commit a1be55997874fc6a7ae059239a81d838251c9a0c
Author: David Sidrane <David.Sidrane@NscDg.com>
Date:   Wed Feb 24 04:35:40 2021 -0800

    canbootloader:Remove Rate limiting on FW update

commit fd0494555cbe53c24db388827cf30574e57b5796
Author: David Sidrane <David.Sidrane@NscDg.com>
Date:   Wed Feb 24 04:26:08 2021 -0800

    canbootloader:stm32_boarddeinitialize->board_deinitialize

commit 944536fa509930c3f1c1873f5aad269c267f4104
Author: David Sidrane <David.Sidrane@NscDg.com>
Date:   Wed Feb 24 04:20:44 2021 -0800

    canbootloader:Remove duplicated file from bring it back to repo

commit 500fe5c98ca71371f84bffb4ba083264c4954bc2
Author: David Sidrane <David.Sidrane@NscDg.com>
Date:   Mon Feb 22 10:31:39 2021 -0800

    uavcannode_gps_demo:Add UAVCAN bootloader AppDescriptor

commit dd3c3098f2dde5e64d99cb0c0959ae10970b2cac
Author: David Sidrane <David.Sidrane@NscDg.com>
Date:   Wed Feb 17 06:57:28 2021 -0800

    nxp_ucans32k146:Add Can Bootloader build

    nxp_ucans32k146:Relocation for Bootloader

    nxp_ucans32k146:can_boot enable CAN

    nxp_ucans32k146:Save Space use Non Optimize memcpy

    nxp_ucans32k146:Increase to 24K

    nxp/ucans32k146:Canbootloader LED Driver

    nxp_ucans32k146:Can bootloader shut down CAN

    nxp_ucans32k146:Use NVMEEPROM for Paramaters

    nxp_ucans32k146:Use bootloader AppDescriptor

    px4 mtd:Support onchip emulated eeprom

commit 62c0c96749b3df56487f7d4d7985d8c314e07d99
Author: David Sidrane <David.Sidrane@NscDg.com>
Date:   Wed Feb 17 11:55:42 2021 -0800

    canbootloader:Use Micro hal and arch selection

    nxp/s32k14x:board_identity: Return length of mfguid

    nxp/s32k14x:CAN driver

    nxp/s32k14x:Drver Added ABORT on error

    canbootloader:Use N words for first word

    canbootloader:Ensure the up_progmem API always defined

commit ea255234da4c743adae2ebf8c6ca33fffed8d82d
Author: David Sidrane <David.Sidrane@NscDg.com>
Date:   Tue Feb 23 12:40:32 2021 -0800

    nuttx:[BACKPORT] s32k1xx:Support ramfunc

commit 46b9acac6df63c4a94b8a96fae4065b4a868e614
Author: Beat Küng <beat-kueng@gmx.net>
Date:   Wed Feb 10 11:20:55 2021 +0100

    mag_calibration: fix typo

commit 558fe18dfeacc9f4571a14318310e4ca8837be26
Author: Beat Küng <beat-kueng@gmx.net>
Date:   Tue Feb 9 11:00:28 2021 +0100

    sitl: add 'commander takeoff' to history

commit 836c7c65755ab8f0fd3b0fd42fb06bdb903721b4
Author: Beat Küng <beat-kueng@gmx.net>
Date:   Fri Feb 5 10:11:55 2021 +0100

    StickAccelerationXY: brake a bit faster

    The drag is based on max_acc/max_vel, which means that increasing the
    maximum velocity leads to slower braking (at the same starting speed).

    Especially a combination of small max_acc (slow responsiveness) with high
    max_vel led to an exceedingly high braking distance.
    This improves that while still being smooth.

commit 1be4163506021f44a5cc36bafd545ccf1a36feba
Author: Beat Küng <beat-kueng@gmx.net>
Date:   Fri Feb 5 12:47:11 2021 +0100

    mc_pos_control_params: increase velocity limits a bit

    I hit those on my vehicle

commit ad9688e63c091f92283b1f3e0e7240a8af85516b
Author: Beat Küng <beat-kueng@gmx.net>
Date:   Fri Feb 5 10:08:18 2021 +0100

    mc: remove unused param definitions MPC_JERK_MIN and MPC_DEC_HOR_SLOW

commit a637f282ce6a8accac11eeb59b77fa35b8a4a3f5
Author: Matthias Grob <maetugr@gmail.com>
Date:   Thu Feb 4 15:25:03 2021 +0100

    FunctionsTest: cover lerp

commit 14bf9cf7533fa588bd06c0e60bb44ad0c2c6db07
Author: Beat Küng <beat-kueng@gmx.net>
Date:   Wed Feb 3 13:25:37 2021 +0100

    mc: add SYS_VEHICLE_RESP param to configure vehicle responsiveness

commit 2a0a82fd9051999dd4859ccc544a0bbbb5547f4b
Author: Beat Küng <beat-kueng@gmx.net>
Date:   Fri Feb 5 10:06:51 2021 +0100

    param: add commit_no_notification(T val) API

commit 3ef93823f4b8f870b056549d321473a02fb69b1f
Author: David Sidrane <David.Sidrane@NscDg.com>
Date:   Wed Feb 24 06:27:57 2021 -0800

    srgbled:Fix warning

commit 5f3e883f2c1bb59fe5bc9c89d5662f38a1c87495
Author: Daniel Agar <daniel@agar.ca>
Date:   Wed Feb 24 08:13:53 2021 -0500

    sensors/vehicle_imu: vehicle_imu_status include accel/gyro full raw FIFO sample rate

commit cec31fd68512988f1eba072e167c4b53d1d1035c
Author: Ryan Johnston <31726584+ryanjAA@users.noreply.github.com>
Date:   Tue Feb 23 22:07:24 2021 -0600

    Remove mkblctrl from default.cmake

    Mkblctrl needs to be removed for the build to now succeed.

commit 45dde177ee5b96a5fc874213d01aa639ac873573
Author: Ryan Johnston <31726584+ryanjAA@users.noreply.github.com>
Date:   Tue Feb 23 22:09:36 2021 -0600

    Remove mkblctrl from default.cmake

    Mkblctrl needs to be removed for the build to succeed.

commit dd736f854092367c2732cccca4707e4cf9a2906e
Author: David Sidrane <David.Sidrane@NscDg.com>
Date:   Mon Feb 22 07:31:46 2021 -0800

    holybro_can-gps-v1:Ensure y…
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